ecvOctree.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
// Local
#include "ecvHObject.h"
 
// cloudViewer
#include <DgmOctree.h>
#include <ReferenceCloud.h>
 
// Qt
#include <QObject>
 
class ccCameraSensor;
class ccGenericPointCloud;
class ccOctreeFrustumIntersector;
 
 
class CV_DB_LIB_API ccOctree : public QObject, public cloudViewer::DgmOctree {
    Q_OBJECT
 
public:  // GENERAL METHODS
    typedef QSharedPointer<ccOctree> Shared;
 
 
    explicit ccOctree(ccGenericPointCloud* cloud);
 
    virtual ~ccOctree();
 
 
    void multiplyBoundingBox(const PointCoordinateType multFactor);
 
 
    void translateBoundingBox(const CCVector3& T);
 
    ccBBox getSquareBB() const;
    ccBBox getPointsBB() const;
 
    // inherited from DgmOctree
    virtual void clear() override;
 
public:  // RENDERING
    int getDisplayedLevel() const { return m_displayedLevel; }
    void setDisplayedLevel(int level);
 
    bool isVisible() const { return m_visible; }
    inline void setVisible(bool state) { m_visible = state; }
 
    enum DisplayMode {
        WIRE = 0, 
        MEAN_POINTS =
                1, 
        MEAN_CUBES = 2 
    };
    DisplayMode getDisplayMode() const { return m_displayMode; }
    void setDisplayMode(DisplayMode mode);
 
    void draw(CC_DRAW_CONTEXT& context);
 
    bool intersectWithFrustum(ccCameraSensor* sensor,
                              std::vector<unsigned>& inCameraFrustum);
 
    bool pointPicking(const CCVector2d& clickPos,
                      const ccGLCameraParameters& camera,
                      PointDescriptor& output,
                      double pickWidth_pix = 3.0) const;
 
public:  // HELPERS
    static void ComputeAverageColor(cloudViewer::ReferenceCloud* subset,
                                    ccGenericPointCloud* sourceCloud,
                                    ColorCompType meanCol[]);
 
    static CCVector3 ComputeAverageNorm(cloudViewer::ReferenceCloud* subset,
                                        ccGenericPointCloud* sourceCloud);
 
 
    static PointCoordinateType GuessNaiveRadius(ccGenericPointCloud* cloud);
 
    struct BestRadiusParams {
        int aimedPopulationPerCell = 16;  
        int aimedPopulationRange =
                4;                  
        int minCellPopulation = 6;  
        double minAboveMinRatio = 0.97;  
    };
 
 
    static PointCoordinateType GuessBestRadius(
            ccGenericPointCloud* cloud,
            const BestRadiusParams& params,
            cloudViewer::DgmOctree* cloudOctree = nullptr,
            cloudViewer::GenericProgressCallback* progressCb = nullptr);
 
 
    static PointCoordinateType GuessBestRadiusAutoComputeOctree(
            ccGenericPointCloud* cloud,
            const BestRadiusParams& params,
            QWidget* parentWidget = nullptr);
 
signals:
 
    void updated();
 
protected:  
    static bool DrawCellAsABox(const cloudViewer::DgmOctree::octreeCell& cell,
                               void** additionalParameters,
                               cloudViewer::NormalizedProgress* nProgress = 0);
 
    static bool DrawCellAsAPoint(
            const cloudViewer::DgmOctree::octreeCell& cell,
            void** additionalParameters,
            cloudViewer::NormalizedProgress* nProgress = 0);
 
    static bool DrawCellAsAPrimitive(
            const cloudViewer::DgmOctree::octreeCell& cell,
            void** additionalParameters,
            cloudViewer::NormalizedProgress* nProgress = 0);
 
protected:  // MEMBERS
    ccGenericPointCloud* m_theAssociatedCloudAsGPC;
 
    int m_displayedLevel;
 
    DisplayMode m_displayMode;
 
    ccOctreeFrustumIntersector* m_frustumIntersector;
 
    bool m_visible;
};